Table of notation used in Duffy's book

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Here's a table summarizing important notation of the book:

Joseph Duffy. "Statics and Kinematics with Applications to Robotics". Cambridge University Press.

Note that, when referring to some concept, Duffy uses the notation in the column "Symbol", whereas when he refers to the coordinates of that concept, he uses the notation in the fourth column:

Concept	Type	Symbol	Coordinates
line	geometric	$, $i, $ij	(ray), or (axis)
unit vector	geometric
moment of wrt O	geometric	SO	SO
force	physical	w
rotor	physical	t (ray) or T (axis)	(ray) or (axis)